Method for carrying out industrial work operations in work

Abstract

The invention relates to a method for construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a working environment by means of a mobile robot unit (1). A mobile robot unit (1) comprises a multi-axis maneuvering robot (2) carrying a maneuvering head (4) and a vehicle (3) carrying the robot (2). The method comprises the following steps: moving the vehicle (3) to a predetermined working area in the working environment and locking the vehicle (3) at this position, initiating a learning phase of the robot (2) in which an operator (O) provides information about the position in space of a plurality of working points to an electronic controller (E) by means of a programming tool (5), a plurality of working trajectories of the operating head (4) are processed on the basis of information obtained at a position in space of the working point and also on the basis of a selection from a plurality of predetermined working procedures operable by the operating head (4).

Description

Technical Field

[0001] The present invention relates to a system and associated method for performing work operations of an industrial process in a work environment.

[0002] More specifically, the system according to the present invention comprises a mobile robotic unit arranged to perform construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a working environment (e.g. in a ship structure or a floating or semi-submersible offshore structure or in an aircraft or in a building structure or in an outdoor space).

[0003] The mobile robotic unit can be configured to perform any type of work in a continuous or discontinuous process, such as welding, sealing, riveting, nailing, threading, cutting, sealant deposition, adding materials via additive manufacturing technology, etc. Background Art

[0004] A system of the above type is described, for example, in document CN 107 030 349 A. This document in fact discloses a mobile robotic unit arranged to perform welding operations inside a working environment, in particular inside a ship. The robotic unit comprises a vehicle on which a manipulator robot equipped with a welding head is mounted.

[0005] The starting point of the present invention is the desire to create a system and a method of the above-mentioned type, which allow to increase the flexibility and efficiency of the work execution, so that the work cycle can be carried out in a versatile, simple and fast manner.

[0006] Purpose of the Invention

[0007] The object of the present invention is to provide a system of the above mentioned type which has a high degree of flexibility and high efficiency.

[0008] Another object of the invention is to provide a system of the above-mentioned type which is very intuitive for an operator using the system and which provides detection and control techniques which are particularly easy to implement.

[0009] Another object of the invention is to make the learning operation of the system very intuitive and fast before the work is carried out. Summary of the invention

[0010] To achieve these objects, the present invention relates to a method for carrying out construction and / or assembly and / or maintenance and / or repair and / or inspection operations with the aid of a mobile robotic unit in a working environment, for example in a marine structure or a floating or semi-submersible offshore structure or in an aircraft or in a building structure or in an outdoor space,

[0011] Among them, the mobile robot unit includes:

[0012] - a multi-axis manipulation robot carrying a manipulation head,

[0013] - a vehicle carrying the robot, the vehicle being configured to be guided by wire or remotely controlled by an operator, or being equipped with automatic driving,

[0014] The method comprises the following steps:

[0015] - moving the vehicle to a work area in a work environment and locking the vehicle in that position,

[0016] - starting a learning phase of the robot, in which the operator, with the aid of a programming tool, provides the electronic controller (E) with information about the positions in space of a plurality of working points at which the operating head must operate,

[0017] - processing, by the electronic controller, of a plurality of working trajectories of the operating head based on information obtained on the position of the working point in space and also based on a selection made by the operator through the human-machine interface from a plurality of predetermined working programs operable by the operating head and contained in a memory accessible by the electronic controller, and

[0018] - Starting the selected work program, wherein the operating head is automatically controlled to move along the processed work trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features and advantages of the invention will become apparent from the following description, which is given by way of non-limiting example only, with reference to the accompanying drawings, in which:

[0020] Figure 1 is a perspective view showing a preferred embodiment of a system according to the present invention, comprising a mobile robotic unit;

[0021] Figure 2 is a perspective view showing further features of the system according to the preferred embodiment;

[0022] Figure 3A is a perspective view showing an operational stage of the operation of a system according to the present invention;

[0023] Figure 3B-Figure 3E yes Figure 3A some of the components shown are shown to an enlarged scale; and

[0024] Figure 4 , Figure 5 Detailed Description of the Invention are some exemplary screens of a human-machine interface for configuring a work cycle performed by a system according to the present invention. DETAILED DESCRIPTION

[0025] Various specific details are shown in the following description, and it is intended to deeply understand the examples of one or more embodiments. The embodiments can be implemented without one or more specific details or using other methods, parts, materials, etc. In other cases, known structures, materials or operations are not shown or described in detail to avoid confusing the various aspects of the present embodiment. Reference to "embodiment" or "one embodiment" within the framework of this specification means that the specific configuration, structure or feature described in conjunction with the embodiment is included in at least one embodiment. Therefore, phrases such as "in an embodiment" or "in an embodiment" may appear in different positions of this specification, but do not necessarily refer to the same embodiment. In addition, specific constructions, structures or features can be appropriately combined in one or more embodiments, and / or be associated with the embodiments in a manner different from that shown in this article, such as making the features shown in the drawings herein applicable to one or more embodiments shown in different drawings.

[0026] The references shown herein are for convenience only and therefore do not limit the scope of protection or the scope of the embodiments.

[0027] refer to Figure 1 , reference numeral S generally denotes a system for performing construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a work environment. The system S comprises a mobile robotic unit 1 which can be configured to perform any type of work in a continuous or discontinuous process, such as welding, sealing, riveting, nailing, screwing, cutting, sealant deposition, adding material by means of additive manufacturing techniques, etc.

[0028] The figures show an embodiment relating to a system S arranged to perform a welding operation, in particular an arc welding operation. This example should not be interpreted as limiting in any way, since, as mentioned above, the invention is applicable to any type of industrial operation, whether continuous or discontinuous process.

[0029] According to the invention, the mobile robotic unit 1 comprises a multi-axis manipulating robot 2 carrying an operating head 4 and a vehicle 3 on which the robot 2 is mounted. The operating head 4 comprises working means arranged to perform a plurality of construction and / or assembly and / or maintenance and / or repair operations in a working environment.

[0030] In a preferred embodiment, the working environment consists of a ship structure and a mobile robotic unit 1, and the method is set up for assembling ship parts under construction.

[0031] refer to Figure 1, in which a mobile robot unit 1 is shown, the robot 2 being a multi-axis manipulation robot having a base 14 and a column mounted rotatably on the base 14 about a first vertically oriented axis. The robot 2 has an arm 15 mounted on the column in an articulated manner about a second horizontally oriented axis; reference numeral 16 denotes a forearm mounted on said arm 15. The forearm 16 is articulated about a third axis, also oriented horizontally; the forearm 16 is also rotatable about its longitudinal axis and is equipped at its end with a wrist mounted so as to be rotatable about two mutually orthogonal axes. According to a technique known per se, each of the six axes of the robot 2 is controlled by a corresponding electric motor. The electric motors of the robot 2 are controlled by an electronic control unit in a manner known per se. At the distal end of the wrist of the robot 2 there is provided a flange for attaching an operating head 4 carrying working means for carrying out work in a continuous or discontinuous process. Preferably, the attachment flange is a sensor flange to avoid any collision.

[0032] exist Figure 1 , Figure 3A In the embodiment shown, the operating head 4 comprises a welding device. Preferably, the welding device comprises a welding torch 25 for performing gas shielded metal arc welding (MIG / MAG). Reference numeral 26 denotes a wire feeder carried by the robot 2. Of course, the invention also relates to such a case, in which a welding device configured to perform other types of welding (e.g. laser, resistance welding, etc.) is provided.

[0033] As mentioned above, the multi-axis manipulation robot 2 is carried by the vehicle 3. Figure 1 , the vehicle 3 comprises a frame 17 and a propulsion / movement device 18, which is configured for propulsion on the ground (such as a metal surface or other material) as well as on soil. Preferably, the propulsion / movement device 18 is a pair of tracks, which are configured to allow the robot unit 1 to move easily even on a deformable and inconsistent ground. Of course, instead of tracks, the vehicle 3 can provide other types of propulsion / movement devices 18. The vehicle 4 also includes a plurality of parking feet 19 supported by corresponding stabilizer arms 20 extending from the frame 17. Preferably, the arms 20 are in positions symmetrical to each other relative to the mobile robot unit 1. The stabilizer arms 20 can be extended or folded downward, and can be automatically controlled by means of corresponding actuators to rest on the ground and keep the vehicle 3 in a stable position on the ground.

[0034] In a preferred embodiment of the present invention, the vehicle 3 is configured to be guided by wire or remotely controlled by an operator O. However, it should be noted that the vehicle 3 can be configured to move automatically in a predetermined or programmed manner to autonomously reach different areas of the work area to perform various work operations therein.

[0035] according to Figure 1 As shown, the mobile robotic unit 1 is mechanically connected to a service cart 13 equipped with wheels 27 by means of a trailer configuration. In this regard, the vehicle 3 includes a connecting hinge 28 to tow the cart 13, which is provided with a vertical support portion 21 to support various components to control the unit 1 at an ergonomic height for the operator O. Among the above-mentioned components is a human-machine interface (HMI) 12 configured to allow the operator O to program and control the working cycle. According to Figure 1 In the preferred embodiment shown, various electronic components (including a support body 29 for supporting the welding wire coil, a safety button panel 30 for safely controlling some basic functions of the working cycle, and a remote controller 31 for controlling the vehicle 3) are also arranged on the trolley 13 for controlling the working cycle. The trolley 13 is connected to a service unit (not shown) by means of a connecting rope 11. The rope 11 includes cables and service pipes. According to the preferred example shown, the connection is made of a pair of ropes 11 connected along their extension, so as to allow easier movement and maintenance than in the case of providing a single rope with a weight greater than the total weight distributed between two parallel ropes.

[0036] According to a characteristic of the invention, the system S comprises an electronic controller E configured to initiate a learning phase of the robot 2 before the performance of work. In one or more embodiments, the controller E is carried by the service cart 13 .

[0037] The learning phase includes several preliminary sub-phases, which will be described in detail below; among these steps, there is a preliminary programming phase, in which the operator O provides the electronic controller E with information about the position in space of multiple working points (at which the operating head 4 must operate) with the help of the programming tool 5.

[0038] In one or more embodiments, and in Figure 2 In the embodiment shown, the programming tool 5 is a marking device provided for generating points and process trajectories which can be automatically recognized by the robot unit 1. The marking device can be used manually by an operator in order to define a working point each time.

[0039] like Figure 2In the embodiment shown, the marking device is a rod 7 operable by an operator O, comprising at least one indicator element 9 serving as a marking of the robot unit 1. The indicator element 9 is optically detectable by means of a visual device 6. In one or more embodiments, the visual device 6 is mounted on the robot 2. In other embodiments, the visual device 6 is arranged outside the robot 2. The rod 7 comprises a proximal portion 22 arranged to be grasped by the operator O and a terminal portion 8 comprising an indicator element 9 automatically recognizable by the robot 2. Preferably, the indicator element 9 is arranged at the end of the marking device, so that the step of indicating the working point manually performed by the operator O is particularly intuitive. The rod 7 can also be telescopic, comprising a plurality of tubular elements configured to slide one inside the other. Due to this feature, the operator O can vary the extension of the marking device according to the characteristics of the working area in which he operates and the distance from the point that the operator is used to indicate using the indicator element 9.

[0040] As mentioned previously, the manipulator robot 2 is equipped with a visual device 6 arranged to detect the position of the indicator element 9. The visual device 6 can be made of a combination of optical and electronic components, such as one or more cameras that allow one to acquire, record and process a series of detected images. The result of the processing is the recognition of certain features of the image to guide the control and selection of the position of the indicator element 9. Figure 3A-3B As shown, the visual device 6 is a camera mounted close to the operating head 4 and is integrated with the axis of the robot 2.

[0041] according to Figure 3A , Figure 3C The feature shown has a check sphere 32 at the distal end of the indicator element 9 for "touching" various elements arranged in the space of the working area. A polygonal body 33 extends from the check sphere 32 in the direction of the proximal portion 22, the polygonal body comprising a plurality of faces, at least one of which shows a QR code 34 that can be read by the visual device 6. Alternatively, the indicator element 9 may comprise a three-dimensional element of a specific geometry that is known in advance to the visual device 6 after a preliminary programming phase of the unit 1.

[0042] In both cases, the vision device 6 is able to detect and identify the position of the indicator element 9 and thus uniquely estimate the orientation and position of the robot 2 in space.

[0043] refer to Figure 3D-Figure 3E The proximal portion 22 of the marking device includes a handle 35 having a plurality of buttons for controlling the working cycle. These buttons include:

[0044] at least one selection button 23 for giving input commands during the implementation of the cycle, such as, for example, activating the search function of the indicator element 9 and identifying a specific position indicated as an obstacle to be bypassed in order to avoid a collision with the head 4 ;

[0045] - a "dead man" safety button 36, which brings the robot 2 to a complete stop after the pressure exceeds a given force;

[0046] - Emergency button 37.

[0047] In other embodiments, the above-mentioned push button is separate from the stem 7 carrying the indicator element 9 .

[0048] Preferably, the marking device also comprises a supporting body 24 associated with the handle 35 to support the forearm of the operator O in order to support the tool 5 .

[0049] Due to the above-mentioned features, the robot 2 can acquire in a particularly rapid and intuitive manner the working point at which the working operation is carried out by the operating head 4 , by means of the indicator element 9 which can be automatically recognized by the robot 2 .

[0050] In the case of working with a continuous process, the operator O indicates the starting point, the end point and the working path extending between the starting point and the end point with the indicator element 9. As mentioned above, the indicator element 9 is preferably arranged at the end of the marking device. In the case of obstacles along the process trajectory to be indicated, the system S provides the possibility of accurately detecting points between the starting point and the end point of the process trajectory that identify the position of the obstacles. Therefore, the system S provides the function of automatically working from the starting point to the end point bypassing the previously identified obstacles.

[0051] In one or more embodiments, the learning phase of the robot 2 may include a further preliminary phase, in which the operator O selects various operating parameters (including the type of work, the approach angle of the robot 2, the orientation of the robot 2 during the work trajectory, the speed of the robot 2, etc.) to perform the desired process. The selection of various parameters made by the operator O may include a selection step among a plurality of predetermined work programs, which are operable by the operating head 4 and contained in a memory accessible by the electronic controller E. Further features related to these work programs are indicated in the description below.

[0052] according to Figure 1 , Figure 3A , Figure 3BAnother feature shown is that the operating head 4 is associated with at least one optoelectronic detection system 10 for assisting the robot 2, which is provided to carry out a step of automatic refinement of the aforementioned working point. This refinement step, which can be carried out before or simultaneously with the implementation of the selected work program, is arranged so that the robot 2 is controlled to move the operating head 4 so as to bring the optoelectronic detection system 10 to the position closest to the working point, while the vehicle 3 remains stationary. With the help of the optoelectronic detection system 10, the spatial position of the working point is refined, that is to say determined in a more precise manner than the indication made with the tool 5.

[0053] Preferably, the optoelectronic detection system 10 for assisting the robot 2 comprises a transmitting device configured to project a laser light knife onto the working area and a receiver device for acquiring the reflected radiation. The thinning steps of the working area are detected by means of the optoelectronic detection system 10, so that corrections to the welding parameters as part of the selected predetermined working program are determined, if necessary. In other words, working points that are inaccurately indicated by the indicator element 9 can be managed with the optoelectronic detection system 10.

[0054] refer to Figure 3A In an enlarged view of FIG. 4 , the operating head 4 further comprises an illumination device 38 which assists the marking device for detecting the indicator element 9 .

[0055] The operation of the above-described system S is indicated in the following description.

[0056] According to the present invention, the working cycle performed can be divided into three different operation macro steps:

[0057] - a first operating step, in which the vehicle 3 is moved to locate a target area in the working area;

[0058] - a second operating step, in which the parameters and the work trajectory performed by the robot 2 are defined; and

[0059] A third operating step, in which the previously defined work is carried out by means of the operating head 4 .

[0060] More generally, the system S is arranged to operate in an online programming mode to define individual points (in the case of a discontinuous process) and process trajectories (in the case of a continuous process) each time a given job is performed on one or more components of the work area.

[0061] In the following, for simplicity of description, reference will be made to the illustrated embodiment in which the operating head 4 comprises a welding head. Of course, as broadly indicated above, a processing device suitable for performing other types of work by using a continuous or discontinuous process may be provided instead of a welding head.

[0062] The first operating step provides for the operator O to guide the vehicle 3 in the work area (for example by remote control) to a position suitable for starting the process. In this case, the robot 2 is in a static position and in a safe state: the control logic does not allow the robot 2 to move. According to the safety protocol, in this step, the operator O is located behind the vehicle 3 and in front of the vertical support part 21 of the cart 13.

[0063] Once the desired positioning is achieved, the operator O selects a parking command. This command provides for the actuation of the stabilizers 20 to stably park the vehicle 3. In this case, the robot 2 is therefore allowed to move.

[0064] Once the position of the vehicle 3 is defined, the second operating step begins: the operator O selects the operating area by means of the human-machine interface 12, indicating the location of the bulkheads surrounding the working area (for example, indicating the relative distance between the vehicle 3 and the bulkheads). This information is used to selectively activate some safety systems (not shown) to limit the working area of ​​the robot 2. The operator O also indicates the target area of ​​the operating area for welding (for example, indicating the weld on the right, left or front side by the orientation relative to the vehicle 3). The final confirmation of the selected configuration is given by the operator O via a button located on the near side of the human-machine interface 12. Once the selection is confirmed, the human-machine interface 12 allows the execution of the next operating step. In other words, before further execution of the defined working cycle, the operator O will have to select the configuration of the bulkheads of the working environment.

[0065] Subsequently, the operator O defines various working parameters and welding trajectories. In this regard, as previously mentioned, a plurality of predetermined working programs are contained in a memory accessible by the electronic controller E. For example, the working programs can be selected using various icons schematically representing different types of work. In the case of an operating head 4 for performing welding operations, each working program comprises information about a predetermined configuration of a welding joint and a plurality of welding parameters associated with said predetermined configuration of the welding joint.

[0066] The operator O preliminarily selects one of the predetermined working programs from a plurality of available predetermined programs via the human-machine interface 12 (offline programming stage).

[0067] Preferably, each work program identifies:

[0068] - type of joint (e.g. reference to the vessel under construction, bulkhead deck or bulkhead reinforcement);

[0069] - Specificity of the linker, for example:

[0070] - There are obstacles at the starting point, end point or intermediate position;

[0071] - Corrugated bulkheads instead of smooth bulkheads;

[0072] - Cross bulkheads.

[0073] like Figure 4 As shown, the human-machine interface 12 shows a simplified graphical description 39 of each work procedure. Depending on the selection made, additional information may need to be entered to complete the implementation of welding (e.g., indicating plate thickness, joints with / without welding gaps, number of weld passes).

[0074] After determining the predetermined work program, the robot 2 moves toward a specific approach position for each program according to the work area to facilitate the acquisition of the work point in the subsequent stage.

[0075] Subsequently, the operator O uses the programming tool 5 to provide the robot controller E with information about the position in space of the work point at which the operating head 4 must operate. In the case where the programming tool 5 comprises the above-mentioned marking device, the operator O uses the marking device to indicate the starting point of the process trajectory by means of the indicator element 9 (in the case of a continuous process).

[0076] like Figure 5 As shown, the human-machine interface 12 suggests which points and in which sequence to acquire based on the previous selections. The operator O must identify the previously displayed points by placing markers, the purpose of which is to identify the start and end points of the weld and to define the geometry of any obstacles.

[0077] The vision device 6 detects the position of the indicator element 9 and the robot 2 automatically moves to bring the operating head 4 to the point indicated by the indicator element 9. The system S is configured to operate so that the robot 2 tracks the position of the mark continuously, in real time and at a safe speed. The robot 2 keeps the tracking mark at a fixed distance and at a reduced speed (<250 mm / s) for safety reasons. The mark must always be framed by the vision device 6.

[0078] The system S provides an automatic refinement step of the learning of the robot 2, wherein the robot 2 is controlled to move the operating head 4 at the position closest to said working point, while always keeping the vehicle 3 stationary, by means of the optoelectronic detection system 10, in order to determine more precisely the spatial position of the working point. This refinement step can be implemented before or while executing the selected working program. The working point can then be refined, being able to establish a differential offset relative to a previous manual selection.

[0079] It should be noted that, after said refinement step, the optoelectronic device 10 is also configured to verify the feasibility and consistency of the selection made by the operator O with respect to the points actually obtained and the identified components of these points. In other words, a reachability test is performed on each working point to ensure that the welding is performed correctly.

[0080] Preferably, a visual signal by means of an LED mounted on the vehicle 3 indicates whether the working point is consistent with the working environment and the selected parameters. If the selected point is beyond the reachability radius of the robot 2, the possible options are:

[0081] - reduce the operating area by selecting a closer point, or

[0082] - Execute an "Abort Cycle" procedure to return the robot 2 to its rest position without performing subsequent steps.

[0083] At the end of the refinement step using the optoelectronic device 10, the operating head 4 is automatically controlled to move along the processed work trajectory, carrying out the planned work.

[0084] According to a preferred embodiment, the system S is configured to memorize the work cycles performed and all the related parameters, so as to be able to subsequently evaluate the operations performed from the point of view of quality control of the work performed.

[0085] According to another embodiment, the system S comprises a group of mobile robotic units 1 configured to work simultaneously and in a coordinated manner in a working area, wherein the group is controlled by a central electronic unit according to a logic control to manage the simultaneous movements of the mobile units 1 .

[0086] Thanks to the above characteristics, the system S according to the invention allows the operator to carry out multiple operations of continuous or discontinuous processes in a simple, rapid and very intuitive way.

[0087] Of course, without prejudice to the essential principle of the invention, the details of construction and the embodiments may vary widely with respect to what has been described and illustrated, without thereby departing from the scope of the invention as defined in the appended claims.

Claims

1. A method for carrying out construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a working environment, for example in a ship structure or a floating or semi-submersible offshore structure or in an aircraft or in a building structure or in an outdoor space, by means of a mobile robot unit (1), in, The mobile robot unit (1) comprises: - a multi-axis manipulation robot (2) carrying a manipulation head (4), a vehicle (3) carrying the robot (2), the vehicle being configured to be guided by wire or remotely controlled by an operator (O), or being equipped with automatic driving, Wherein, the method comprises the following steps: - moving the vehicle (3) to a working area in the working environment and locking the vehicle (3) in this position, - starting a learning phase for the robot (2), in which the operator (O) provides the electronic controller (E) with information, using a programming tool (5), about the positions in space of a plurality of working points at which the operating head (4) must operate, - processing, by the electronic controller (E), of a plurality of working trajectories of the operating head (4) based on information obtained on the position of the working point in space and also based on a selection made by the operator (O) through a human-machine interface (12) from a plurality of predetermined working programs operable by the operating head (4) and contained in a memory accessible by the electronic controller (E), and - Starting the selected work program, wherein the operating head (4) is automatically controlled to move along the processed work trajectory.

2. The method according to claim 1, characterized in that At least one photoelectric detection system (10) for assisting the robot (2) is associated with the operating head (4), and wherein, after the learning phase and before or simultaneously with the implementation of the selected work program, an automatic refinement step of the learning of the robot (2) is performed, wherein the robot (2) is controlled to move the operating head (4) so ​​as to bring the at least one photoelectric detection system (10) to the position closest to the working point, while the carrier (3) remains stationary, and wherein the spatial position of the working point is determined more accurately with the aid of the at least one photoelectric detection system (10).

3. The method according to claim 2, characterized in that Each of the working procedures includes information about a specific type of operation to be performed and a plurality of working parameters associated with the specific type of operation.

4. The method according to claim 3, characterized in that The selection of the working program is performed before using the programming tool (5).

5. The method according to any one of claims 2 to 4, characterized in that: During the refinement step, the working area is detected by means of the optoelectronic detection system (10), so that, if necessary, a correction of the operating parameters as part of the selected working program is determined.

6. The method according to claim 1, wherein: The programming tool (5) used during the learning phase comprises a marking device, which is manually operated by an operator (O) to enable a plurality of working points to be identified at the working area by means of a visual device (6) carried by the robot (2).

7. The method according to claim 6, wherein: The marking device is a rod (7) operable by the operator (O) and having an end portion (8) comprising an indicator element (9) recognizable by the visual device (6).

8. The method according to claim 1, wherein: The electronic controller (E) is carried by a service trolley (13) operatively connected to the vehicle (3) and also connected to a service unit via at least one connection cord (11) comprising a cable and a service conduit.

9. The method according to claim 2, characterized in that: The at least one optoelectronic detection system (10) for assisting the robot (2) comprises a transmitting device configured to project a laser light knife onto the working area and a receiver device for acquiring reflected radiation.

10. The method according to claim 1, characterized in that The operating head (4) is configured to perform an operation selected from the following: welding, riveting, screwing, cutting, sealant deposition, adding material by means of additive manufacturing technology.

11. The method according to claim 10, characterized in that The operating head (4) is configured to perform an arc welding operation.

12. The method according to claim 3, characterized in that The operating head (4) is configured to perform an arc welding operation, and wherein each of the work programs comprises information about a predetermined configuration of a welding joint and a plurality of welding parameters associated with the predetermined configuration of the welding joint.

13. A system for carrying out construction and / or assembly and / or maintenance and / or repair and / or inspection operations in a working environment, for example in a marine structure or a floating or semi-submersible offshore structure or in an aircraft or in a building structure or in an outdoor space, in, The system comprises a mobile robotic unit (1), the mobile robotic unit comprising: a multi-axis manipulator robot (2) carrying a manipulator head (4) and associated with an electronic controller (E), a vehicle (3) carrying the robot (2) and configured to be guided by a wire or remotely controlled by an operator (O), or equipped with automatic driving, so as to be moved to a predetermined working area in the working environment and then locked in this position, - wherein the system (S) comprises a programming tool (5) usable by an operator (O) and configured to provide the electronic controller (E) with information about the positions in space of a plurality of working points at which the operating head (4) must operate, The electronic controller (E) is also configured to: - processing a plurality of working trajectories of the operating head (4) based on information obtained on the position of the working point in space and also based on a selection made by an operator (O) through a human-machine interface (12) from a plurality of predetermined working programs operable by the operating head (4) and contained in a memory accessible by the electronic controller (E), and - Implementation of the selected work program, wherein the operating head (4) is automatically controlled to move along the processed work trajectory.

14. The system according to claim 13, characterized in that The system further comprises: - at least one optoelectronic detection system (10) for assisting the robot (2), the optoelectronic detection system being associated with the operating head (4), - the electronic controller (E), which is also configured to perform an automatic refinement step of the learning of the robot (2) after the learning phase and before or simultaneously with the implementation of the selected work program, wherein the robot (2) is controlled to move the operating head (4) so ​​as to bring the at least one photoelectric detection system (10) to the position closest to the working point, while the carrier (3) remains stationary, and wherein the spatial position of the working point is determined more accurately with the help of the at least one photoelectric detection system (10).

15. The system of claim 14, wherein: The programming tool (5) used in the learning phase comprises a marking device configured to be manually operated by an operator (O) to enable a plurality of working points to be identified at the working area by means of a visual device (6) carried by the robot (2).

16. The system of claim 15, wherein: The marking device is a rod (7) operable by the operator (O) and having an end portion (8) comprising an indicator element (9) recognizable by the visual device (6) carried by the robot (2).

17. The system according to claim 14, characterized in that The at least one optoelectronic detection system (10) for assisting the robot (2) comprises a transmitting device configured to project a laser light knife onto the working area and a receiver device for acquiring reflected radiation.

18. The system according to claim 13, characterized in that The operating head (4) is configured to perform an operation selected from the following: welding, riveting, screwing, cutting, sealant deposition, adding material by means of additive manufacturing technology.

19. The system according to claim 13, characterized in that The operating head (4) is configured to perform an arc welding operation.

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